From b224eafe2e783e002e28b902d96c0b03556747bf Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Mon, 6 Jan 2025 12:33:59 -0600 Subject: [PATCH] Added srxmag standalone. Signed-off-by: thenetworkgrinch --- src/main/java/swervelib/parser/json/DeviceJson.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/swervelib/parser/json/DeviceJson.java b/src/main/java/swervelib/parser/json/DeviceJson.java index 7c10b6b8..8cc33213 100644 --- a/src/main/java/swervelib/parser/json/DeviceJson.java +++ b/src/main/java/swervelib/parser/json/DeviceJson.java @@ -96,6 +96,9 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor) return new AnalogAbsoluteEncoderSwerve(id); case "cancoder": return new CANCoderSwerve(id, canbus != null ? canbus : ""); + case "srxmag_standalone": + return new TalonSRXEncoderSwerve(new TalonSRXSwerve(id, false, DCMotor.getCIM(1)), + FeedbackDevice.PulseWidthEncodedPosition); case "talonsrx_pwm": return new TalonSRXEncoderSwerve(motor, FeedbackDevice.PulseWidthEncodedPosition); case "talonsrx_analog":